Robust stabilization of ship course by convex optimization

Author

Jiafeng, Yu ; Zhibin, Yan ; Jian, Wang ; Qinsheng, Li

Author_Institution

Harbin Inst. of Technol., Harbin, China

fYear

2012

fDate

25-27 July 2012

Firstpage

695

Lastpage

699

Abstract

For ship course control, this paper presents a novel nonlinear controller design method using the sum of squares (SOS) technique combined with the dual of Lyapunov´s stability theorem based on density function. Varying load condition and ship speed are seen as uncertainty, and then the robust nonlinear controller is also designed based on the suggested method. Simulations are performed by taking ocean-going ship model as an example.

Keywords

Lyapunov methods; control system synthesis; convex programming; nonlinear control systems; robust control; ships; SOS technique; convex optimization; density function-based Lyapunov stability theorem; ocean-going ship model; robust nonlinear controller design; robust stabilization; ship course control; ship speed; sum of squares technique; varying load condition; Marine vehicles; Mathematical model; Polynomials; Programming; Stability criteria; Convex optimization; convergence criterion; nonlinear system; ship course;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390015

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=581627